CN110297234A - A kind of big region passive type air target intersection measuring method of networking and system - Google Patents
A kind of big region passive type air target intersection measuring method of networking and system Download PDFInfo
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- CN110297234A CN110297234A CN201810242392.0A CN201810242392A CN110297234A CN 110297234 A CN110297234 A CN 110297234A CN 201810242392 A CN201810242392 A CN 201810242392A CN 110297234 A CN110297234 A CN 110297234A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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Abstract
The present invention is a kind of novel air target passive type intersection measuring method and system, comprising: the passive passive detecting radar of reasonable arrangement and vision tracking table, building target combined monitoring network and more base station intersection measurements positioning network in monitoring area；Suspicious object in search lighting monitoring area is detected, suspicious object azimuth information is returned, each vision tracking table is guided to predetermined position and vision judgement, automatic capture and real-time tracking is carried out to suspicious object；More base station intersection measurement location models are established according to mutual alignment relation and target image information between each vision tracking table, obtain 3 d space coordinate (longitude, latitude, elevation) of the target in intersection measurement positioning network.Networking, big region, high-precision, round-the-clock passive type air target determination techniques under the conditions of this method combination passive radar detection techniques, target visual detecting and tracking technology, more base station front angle intersection measurement technologies, realization are unattended, and there is stronger anti-reconnaissance capability.
Description
Technical field
The present invention is a kind of New Type Military grade air target intersection measuring method and system, involves setting up the big region of networking
The monitoring of air target passive type and localization method.
Background technique
Fast development with new and high technology and the extensive use in military field, aerial reconnaissance measurement means are increasingly various
Change, the requirement of border prevention and control System Construction is continuously improved.In recent years, the national land and sea border defense committee proposes to base oneself upon informatization
Achievement relies on the modern technologies of acquisition of information and integrated fusion, and foundation perception is comprehensively, the visualization of the border of control intelligent is three-dimensional prevents
Control system.Wherein, it constructs comprehensive air target real time monitoring and precise measurement positioning system has become border prevention and control system and builds
Key link in if.Currently, domestic pipe that can be specified using certain amount visual sensor and the covering of passive radar arrangement
Region is controlled, visualizing monitor and radar detecting linkage are completed, realizes comprehensive passive type target acquistion, target following, target essence
The border air target Control Technology application for determining that position and big data fusion are shared is substantially at blank.
Further, for multiple target and there is the aerial reconnaissance phenomenon of military linkage ability, traditional approach is difficult to set up
Big area monitoring system, realizes full target real-time monitoring, tracking and accurate positioning.
Further, for the aerial reconnaissance phenomenon of different zones, how to realize target monitoring from compartmentalization to networking
Transformation constructs the network monitoring system with big data fusion sharing capability, is the key that establish three-dimensional prevention and control system skill
One of art.
Further, for have anti-reconnaissance capability aerial reconnaissance phenomenon, how to improve monitoring system concealment and
Anti-reconnaissance capability is one of the key technology for establishing three-dimensional prevention and control system.
Summary of the invention
It is an object of the invention to for prior art difficult point is overcome, provide a kind of New Type Military grade air target intersection survey
Determine method and system, tracks skill in conjunction with passive radar detection techniques, more base station front angle intersection measurement technologies, target detection
Art, high-precision servo control technology, GIS technology and Beidou location technology, networking, great Qu under the conditions of realization is unattended
Domain, high-precision, round-the-clock passive type air target determination techniques, and there is stronger anti-reconnaissance capability.
To achieve the above object, the invention adopts the following technical scheme:
S1, the passive passive detecting radar of reasonable arrangement and vision tracking table, construct target combined monitoring net in monitoring area
Network and more base station intersection measurements position network, and demarcate mutual alignment relation between each vision tracking table；
S2 detects suspicious object in search lighting monitoring area, determines target bearing information, and by azimuth information be transmitted to respectively with
Track turntable local control combined system；
S3 guides each vision tracking table to predetermined position according to passback suspicious object azimuth information；
S4 obtains each vision tracking table video image, carries out vision judgement, automatic capture and real-time tracking to suspicious object；
S5 establishes more base station intersections and surveys according to mutual alignment relation and target video image information between each vision tracking table
Location model is measured, determines 3 d space coordinate of the target in intersection measurement positioning network；
S6 positions transformational relation between network coordinate system and earth coordinates according to intersection measurement, determines target in geodetic coordinates
Coordinate (longitude, latitude, elevation) under system, and it is calibrated to come on the electronic map, target flight track is drawn, so as to energy
Command and control center is fed back information in real time and makes corresponding decision；
S7, after corresponding decision is made in command and control center or target flies away from monitoring area, system reset repeats S2 ~ S6.
Further, in step S1, each vision tracking table coordinate system and camera coordinate system are established respectively, using base
In the more base station system field calibration methods of distribution of space characteristics point, mutual alignment relation between each vision tracking table is determined
(rotation, translation) establishes intersection measurement positioning network coordinate system, and demarcates primary reusable；
As a preferred embodiment, the more base station system field calibration models of distribution based on space characteristics point are established, using line
Property position estimation and the method for non-linear global optimum solve each base station location relationship, scaling method is simple and reliable, meets scene
Application requirement；
Further, in step S2, for passive passive detecting radar in search process, mesh is passively intercepted and captured and received to array antenna
Radiofrequency signal is marked, receiver is converted into intermediate-freuqncy signal, and carries out signal detection and parameter Estimation to the signal, determines target
Azimuth information (horizontal angle, pitch angle)；
Further, in step S3, using high-accuracy local control combined system, according to suspicious object azimuth information, control
Vision tracking table is to predetermined position；
Further, in step S4, video image information is acquired in real time using double spectrum sensors of " visible light+infrared ",
And image information is handled in real time and target identification extraction by video tracker, while identification information real-time delivery being given
Local control computer and tracking table servo-driver, control turntable accurately track target；
As a preferred embodiment, system uses GPS synchronised clock, when providing accurate for video camera and local control computer
Between information and lock-out pulse, the image for enabling each tracking table to obtain and tracking information precise synchronization in time, are rear end
It handles computer and preferable metrical information is provided, guarantee that flight path intersects processing accuracy；
Further, in step S5, more base stations is established according to more base station front angle intersection principles and the principle of least square and are handed over
Meeting measurement and positioning mathematical model solves 3 d space coordinate of the target in intersection measurement positioning network.Single station vision tracking turns
Platform measurement model is
Wherein,iFor each tracking table number；LiFor the space line equation of tracking table coordinate origin to target；RiAnd Ti
Respectively spin matrix and translation matrix of the tracking table coordinate system to intersection measurement positioning network coordinate system；
More base station tracks turntables establish intersection measurement positioning network Model, intersect fitting with a plurality of space line and solve determination
Target positions the 3 d space coordinate under network coordinate system in intersection measurement；
As a preferred embodiment, it is based on bundle adjustment principle, measurement and positioning objective function is established, utilizes Levenberg-
Marquardt nonlinear least square method minimizes objective function, and Optimization Solution determines that target is sat in intersection measurement positioning network
3 d space coordinate under mark system；
Further, in step S6, in conjunction with GIS technology and Beidou location technology, intersection measurement positioning network coordinate is established
Conversion Relations between system, geodetic rectangular coordinates in space system and earth coordinates, it is final to determine target in geodetic coordinates
Coordinate under system, and it is calibrated to come on the electronic map, draw target flight track；
As a preferred embodiment, ArcGIS Engin 10.2 is selected to be used as GIS database；
Further, in step S7, each local control combined system guidance control vision tracking table resets, while intersecting survey
Amount positioning network resets.
Compared with prior art, beneficial effects of the present invention:
Novel air target intersection measuring method and system provided by the invention, are positioned using distributed more base station intersection measurements,
It is big to monitor regional scope, according to different monitoring regional environment, increases tracking table quantity, it can be achieved that monitoring range approximation equally accurate
Extension；Intersection measurement location technology is combined with GIS technology and Beidou location technology, completes air target monitoring from region
Change and converted to networking, realize that data fusion is shared, controls global strategy convenient for policymaker and make corresponding decision；Using passive quilt
Dynamic search lighting and vision tracking measurement combine, and realize that comprehensive passive type air target accurately measures, and it is hidden to improve system
Property and anti-reconnaissance capability.
Detailed description of the invention
Fig. 1 is the big region passive type air target measuring method of networking and system flow chart；
Fig. 2 is system composition and basic principle block diagram；
Fig. 3 is target intersection measurement position fixing process block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
The embodiment of the present invention, those skilled in the art's every other implementation obtained without making creative work
Example, belongs to the scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment in the present invention can be combined with each other.
The present invention will be further described in the following with reference to the drawings and specific embodiments, but limits not as the present invention.
Embodiment 1
S1, the passive passive detecting radar of reasonable arrangement and vision tracking table, construct target combined monitoring net in monitoring area
Network and more base station intersection measurements position network, and demarcate mutual alignment relation between each vision tracking table；
S2 detects suspicious object in search lighting monitoring area, determines target bearing information, and by azimuth information be transmitted to respectively with
Track turntable local control combined system；
S3 guides each vision tracking table to predetermined position according to passback suspicious object azimuth information；
S4 obtains each vision tracking table video image, carries out vision judgement, automatic capture and real-time tracking to suspicious object；
S5 establishes more base station intersections and surveys according to mutual alignment relation and target video image information between each vision tracking table
Location model is measured, determines 3 d space coordinate of the target in intersection measurement positioning network；
S6 positions transformational relation between network coordinate system and earth coordinates according to intersection measurement, determines target in geodetic coordinates
Coordinate (longitude, latitude, elevation) under system, and it is calibrated to come on the electronic map, target flight track is drawn, so as to energy
Command and control center is fed back information in real time and makes corresponding decision；
S7, after corresponding decision is made in command and control center or target flies away from monitoring area, system reset repeats S2 ~ S6.
Further, in step S1, each vision tracking table coordinate system and camera coordinate system are established respectively, using base
In the more base station system field calibration methods of distribution of space characteristics point, mutual alignment relation between each vision tracking table is determined
(rotation, translation) establishes intersection measurement positioning network coordinate system, and demarcates primary reusable；
As a preferred embodiment, the more base station system field calibration models of distribution based on space characteristics point are established, using line
Property position estimation and the method for non-linear global optimum solve each base station location relationship, scaling method is simple and reliable, meets scene
Application requirement；
Further, in step S2, for passive passive detecting radar in search process, mesh is passively intercepted and captured and received to array antenna
Radiofrequency signal is marked, receiver is converted into intermediate-freuqncy signal, and carries out signal detection and parameter Estimation to the signal, determines target
Azimuth information (horizontal angle, pitch angle)；
Further, in step S3, using high-accuracy local control combined system, according to suspicious object azimuth information, control
Vision tracking table is to predetermined position；
Further, in step S4, video image information is acquired in real time using double spectrum sensors of " visible light+infrared ",
And image information is handled in real time and target identification extraction by video tracker, while identification information real-time delivery being given
Local control computer and tracking table servo-driver, control turntable accurately track target, and system composition and basic principle are such as
Shown in Fig. 2；
As a preferred embodiment, system uses GPS synchronised clock, when providing accurate for video camera and local control computer
Between information and lock-out pulse, the image for enabling each tracking table to obtain and tracking information precise synchronization in time, are rear end
It handles computer and preferable metrical information is provided, guarantee that flight path intersects processing accuracy；
Further, in step S5, more base stations is established according to more base station front angle intersection principles and the principle of least square and are handed over
Meeting measurement and positioning mathematical model solves 3 d space coordinate of the target in intersection measurement positioning network.Single station vision tracking turns
Platform measurement model is
Wherein,iFor each tracking table number；LiFor the space line equation of tracking table coordinate origin to target；RiAnd Ti
Respectively spin matrix and translation matrix of the tracking table coordinate system to intersection measurement positioning network coordinate system；
More base station tracks turntables establish intersection measurement positioning network Model, intersect fitting with a plurality of space line and solve determination
Target positions the 3 d space coordinate under network coordinate system in intersection measurement；
As a preferred embodiment, it is based on bundle adjustment principle, measurement and positioning objective function is established, utilizes Levenberg-
Marquardt nonlinear least square method minimizes objective function, and Optimization Solution determines that target is sat in intersection measurement positioning network
3 d space coordinate under mark system；
Further, in step S6, in conjunction with GIS technology and Beidou location technology, intersection measurement positioning network coordinate is established
Conversion Relations between system, geodetic rectangular coordinates in space system and earth coordinates, it is final to determine target in geodetic coordinates
Coordinate under system, and it is calibrated to come on the electronic map, draw target flight track；
As a preferred embodiment, ArcGIS Engin 10.2 is selected to be used as GIS database；
Further, in step S7, each local control combined system guidance control vision tracking table resets, while intersecting survey
Amount positioning network resets.
Claims (8)
1. a kind of big region passive type air target of networking intersects measuring method and system, which is characterized in that according to the following steps
It realizes:
S1, the passive passive detecting radar of reasonable arrangement and vision tracking table, construct target combined monitoring net in monitoring area
Network and more base station intersection measurements position network, and demarcate mutual alignment relation between each vision tracking table；
S2 detects suspicious object in search lighting monitoring area, determines target bearing information, and by azimuth information be transmitted to respectively with
Track turntable local control combined system；
S3 guides each vision tracking table to predetermined position according to passback suspicious object azimuth information；
S4 obtains each vision tracking table video image, carries out vision judgement, automatic capture and real-time tracking to suspicious object；
S5 establishes more base station intersections and surveys according to mutual alignment relation and target video image information between each vision tracking table
Location model is measured, determines 3 d space coordinate of the target in intersection measurement positioning network；
S6 positions transformational relation between network coordinate system and earth coordinates according to intersection measurement, determines target in geodetic coordinates
Coordinate (longitude, latitude, elevation) under system, and it is calibrated to come on the electronic map, target flight track is drawn, so as to energy
Command and control center is fed back information in real time and makes corresponding decision；
S7, after corresponding decision is made in command and control center or target flies away from monitoring area, system reset repeats S2 ~ S6.
2. air target according to claim 1 intersects measuring method, which is characterized in that in step S1, establish respectively
Each vision tracking table coordinate system and camera coordinate system are marked using the more base station system scenes of distribution based on space characteristics point
Determine method, determine mutual alignment relation between each vision tracking table (rotation, translation), establishes intersection measurement positioning network and sit
Mark system, and demarcate primary reusable.
3. air target according to claim 1 intersects measuring method, which is characterized in that passive passive in step S2
Radar is detected in search process, array antenna is passively intercepted and captured and receives target radio frequency signal, and receiver is converted into intermediate frequency
Signal, and signal detection and parameter Estimation are carried out to the signal, determine target bearing information (horizontal angle, pitch angle).
4. air target according to claim 1 intersects measuring method, which is characterized in that in step S3, use is high-precision
Close local control combined system controls vision tracking table to predetermined position according to suspicious object azimuth information.
5. air target according to claim 1 intersects measuring method, which is characterized in that in step S4, using " visible
Double spectrum sensors of light+infrared " acquire video image information in real time, and are carried out in real time by video tracker to image information
Processing and target identification extraction, while by identification information real-time delivery to local control computer and tracking table servo-drive
Device, control turntable accurately track target.
6. air target according to claim 1 intersects measuring method, which is characterized in that in step S5, according to more bases
It stands front angle intersection principle and the principle of least square establishes more base station intersection measurements positioning mathematical models, solve target and intersecting
3 d space coordinate in measurement and positioning network；
Multistation vision tracking table measurement model is
Wherein,iFor each tracking table number, Li For the space line equation of tracking table coordinate origin to target, RiAnd Ti
Respectively spin matrix and translation matrix of the tracking table coordinate system to intersection measurement positioning network coordinate system, more base station tracks turn
Platform establishes intersection measurement positioning network Model, intersects fitting solution with a plurality of space line and determines that target is fixed in intersection measurement
3 d space coordinate under the network coordinate system of position.
7. air target according to claim 1 intersects measuring method, which is characterized in that in step S6, in conjunction with GIS
Technology and Beidou location technology establish intersection measurement positioning network coordinate system, geodetic rectangular coordinates in space system and geodetic coordinates
Conversion Relations between system, the final coordinate for determining target under earth coordinates, and it is demarcated on the electronic map
Out, target flight track is drawn.
8. the air target intersects measuring method according to claim 1, which is characterized in that in step S7, each short range
Control combination System guides control vision tracking table and reset, while intersection measurement positions network resets.
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| CN111397561A (en) * | 2020-04-22 | 2020-07-10 | 中国人民解放军63816部队 | Method for calculating space coordinates of carrier rocket based on telemetering angle measurement data |
| CN113091605A (en) * | 2021-03-18 | 2021-07-09 | 中国电子科技集团公司第十一研究所 | Calibration method for photoelectric system and computer readable storage medium |
| CN113204019A (en) * | 2021-03-18 | 2021-08-03 | 北京理工大学 | Passive high-speed intersection target direct orbit determination method and system |
| CN113741505A (en) * | 2021-11-03 | 2021-12-03 | 武汉高德红外股份有限公司 | Infrared search tracking method, equipment and system based on automatic layer lifting of motion estimation |
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Inventor after: Jia Kun Inventor after: Liu Qing Inventor after: Zhong Zhengyu Inventor after: Pan Xiao Inventor after: Xu Xiaofeng Inventor after: Du Xuejun Inventor before: Zhong Zhengyu Inventor before: Liu Qing Inventor before: Jia Kun Inventor before: Pan Xiao Inventor before: Xu Xiaofeng Inventor before: Du Xuejun |
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